Robots and methods for protecting fragile components thereof

ABSTRACT

The present disclosure relates to protecting fragile members of robots from damage during fall events. In response to detecting a fall event, a fragile member of a robot can be actuated to a defensive configuration to avoid or reduce damage. An actuatable protective member can be actuated to protect a fragile member to avoid or reduce damage to the fragile member. Actuatable protective members can be dedicated protective members, or can be other members of the robot which serve different functionality outside of a fall event but act as a protective member during a fall event.

TECHNICAL FIELD

The present robots and methods generally relate to fall events andparticularly relate to protecting fragile members from damage duringfall events.

BACKGROUND

Robots can be prone to falling. For example, robots can trip, losebalance, have control problems, or any number of issues that can resultin the robot not being stable and falling towards the ground or otherobjects in an unintended way. Further, robots can be equipped withfragile members. For example, in order to interact with objects in theworld, robots can have complicated, expensive, or easily damaged orbreakable end effectors (e.g. hands). As another example, robots canhave other complicated, expensive, or easily damaged or breakablefeatures, such as aesthetic coatings, covers, masks, etc. A fall eventcan break, damage, scratch, chip, or otherwise harm such fragilemembers.

BRIEF SUMMARY

According to a broad aspect, the present disclosure describes a robotcomprising: a body; a fragile member; at least one processor; at leastone sensor communicatively coupled to the at least one processor; atleast one non-transitory processor-readable storage mediumcommunicatively coupled to the at least one processor, the at least onenon-transitory processor-readable storage medium storingprocessor-executable instructions which, when executed by the at leastone processor, cause the robot to: detect, by the at least oneprocessor, a fall event of the body based on sensor data from the atleast one sensor; in response to detecting the fall event, actuate atleast one member of the robot to protect the fragile member.

The processor-executable instructions which, when executed by the atleast one processor, cause the robot to actuate at least one member ofthe robot to protect the fragile member may cause the robot to: actuatethe fragile member to a defensive configuration which protects thefragile member from damage during the fall event. The defensiveconfiguration may be a contracted configuration. The fragile member mayinclude an end effector comprising a plurality of finger-shaped memberscoupled to a palm-shaped member; and the defensive configuration may bea fist-shaped configuration. The fragile member may include a pluralityof gripper-members; and the defensive configuration may be aconfiguration in which the gripper-members are closed together.

The robot may include at least one actuatable member; and theprocessor-executable instructions which, when executed by the at leastone processor, cause the robot to actuate at least one member of therobot to protect the fragile member may cause the robot to: actuate theat least one actuatable member to a protective configuration whichprotects the fragile member from damage during the fall event. The atleast one actuatable member may comprise at least one support membercoupled to the body and stored in a contracted configuration; and theprocessor-executable instructions which, when executed by the at leastone processor, cause the robot to actuate the at least one actuatablemember to a protective configuration may cause the at least oneactuatable member to extend from the body to an extended configurationwhich braces the body during the fall event. The at least one actuatablemember may comprise at least one support member; and theprocessor-executable instructions which, when executed by the at leastone processor, cause the robot to actuate the at least one actuatablemember to a protective configuration may cause the at least oneactuatable member to extend from a stowed configuration to a supportconfiguration which braces the fragile member during the fall event. Thefragile member may include a plurality of fragile members; the at leastone actuatable member may include a plurality of actuatable members; andthe processor-executable instructions which, when executed by the atleast one processor, cause the robot to actuate the at least oneactuatable member to a protective configuration which protects thefragile member from damage during the fall event may cause the robot to:actuate each actuatable member of the plurality of actuatable members toa respective protective configuration which protects a respectivefragile member of the plurality of fragile members from damage duringthe fall event.

The robot may include at least one actuatable member; and theprocessor-executable instructions which, when executed by the at leastone processor, cause the robot to actuate at least one member of therobot to protect the fragile member may cause the robot to: actuate thefragile member to a defensive configuration which protects the fragilemember from damage during the fall event; and actuate the at least oneactuatable member to a protective configuration which protects thefragile member from damage during the fall event. The defensiveconfiguration may be a contracted configuration, and the protectiveconfiguration may be an extended configuration. The fragile member maycomprise an end effector coupled to the body by the at least oneactuatable member; the processor-executable instructions which, whenexecuted by the at least one processor, cause the robot to actuate thefragile member to a defensive configuration may cause the robot toactuate the fragile member to move towards the body; and theprocessor-executable instructions which, when executed by the at leastone processor, cause the robot to actuate the at least one actuatablemember to a protective configuration may cause the robot to actuate theat least one actuatable member to extend away from the body. The fragilemember may comprise a hand-shaped end effector; the at least oneactuatable member may comprise an arm member including an elbow portion;the hand-shaped end effector may be coupled to the body by the armmember; the processor-executable instructions which, when executed bythe at least one processor, cause the robot to actuate the fragilemember to a defensive configuration may cause the robot to actuate thehand-shaped end effector to move towards the body; and theprocessor-executable instructions which, when executed by the at leastone processor, cause the robot to actuate the at least one actuatablemember to a protective configuration may cause the robot to actuate thearm member to extend the elbow portion away from the body. Thehand-shaped member may include two hand-shaped members; and the at leastone arm member may include two arm members. The robot may furthercomprise at least one support structure coupled to the at least oneactuatable member which protects the at least one actuatable member fromdamage during the fall event. The at least one support structure may beselected from a group of structures consisting of: at least one pad; atleast one pedestal; and at least one spring. The at least one actuatablemember may comprise an arm member having an elbow portion; and the atleast one support structure may comprise at least one elbow padpositioned at or proximate the elbow portion. The processor-executableinstructions, when executed by the at least one processor, may furthercause the robot to, in response to detecting the fall event: actuate theelbow pad to cover the elbow portion. The support structure may beactuatable between a stowed configuration in which the support structureis stowed, and a support configuration in which the support structuresupports the at least one actuatable member; and theprocessor-executable instructions, when executed by the at least oneprocessor, may further cause the robot to, in response to detecting thefall event, actuate the at least one support structure from the stowedconfiguration to the support configuration.

The at least one sensor may comprise at least one sensor selected from agroup of sensors consisting of: an accelerometer; a gyroscope; aninertial measurement unit; a visual sensor; a LI DAR sensor; an audiosensor; and a tactile sensor.

The robot may further comprise two actuatable leg members. The twoactuatable leg members may be actuatable to move the robot by bipedalmotion. The at least one non-transitory processor-readable storagemedium may store further instructions which, when executed by the atleast one processor, cause the robot to: move by bipedal motion of thetwo actuatable leg members.

According to another broad aspect, the present disclosure describes amethod comprising: detecting, by at least one processor of a robot, afall event of a body of the robot based on sensor data from at least onesensor of the robot communicatively coupled to the at least oneprocessor; in response to detecting the fall event, actuating at leastone member of the robot to protect a fragile member of the robot.

Actuating at least one member of the robot to protect the fragile membermay comprise: actuating the fragile member to a defensive configurationwhich protects the fragile member from damage during the fall event.Actuating the fragile member to a defensive configuration may compriseactuating the fragile member to a contracted configuration. The fragilemember may include an end effector comprising a plurality offinger-shaped members coupled to a palm-shaped member; and actuating thefragile member to a defensive configuration may comprise actuating thefinger-shaped members to move towards the palm-shaped member to afist-shaped configuration. The fragile member may include a plurality ofgripper-members; and actuating the fragile member to a defensiveconfiguration may comprise actuating the gripper members to closetogether.

The robot may include at least one actuatable member; and actuating atleast one member of the robot to protect the fragile member maycomprise: actuating the at least one actuatable member to a protectiveconfiguration which protects the fragile member from damage during thefall event. The at least one actuatable member may comprise at least onesupport member coupled to the body and stored in a contractedconfiguration; and actuating the at least one actuatable member to aprotective configuration may comprise: extending the at least oneactuatable member from the body to an extended configuration whichbraces the body during the fall event. The at least one actuatablemember may comprise at least one support member; and actuating the atleast one actuatable member to a protective configuration may compriseextending the at least one support member from a stowed configuration toa support configuration which braces the fragile member during the fallevent. The fragile member may include a plurality of fragile members;the at least one actuatable member may include a plurality of actuatablemembers; and actuating the at least one actuatable member to aprotective configuration which protects the fragile member from damageduring the fall event may comprise: actuating each actuatable member ofthe plurality of actuatable members to a respective protectiveconfiguration which protects a respective fragile member of theplurality of fragile members from damage during the fall event.

The robot may include at least one actuatable member; and actuating atleast one member of the robot to protect the fragile member maycomprise: actuating the fragile member to a defensive configurationwhich protects the fragile member from damage during the fall event; andactuating the at least one actuatable member to a protectiveconfiguration which protects the fragile member from damage during thefall event. Actuating the fragile member to a defensive configurationmay comprise actuating the fragile member to a contracted configuration,and actuating the at least one actuatable member to a protectiveconfiguration may comprise actuating the at least one actuatable memberto an extended configuration. The fragile member may comprise an endeffector coupled to the body by the at least one actuatable member;actuating the fragile member to a defensive configuration may compriseactuating the fragile member to move towards the body; and actuating theat least one actuatable member to a protective configuration maycomprise actuating the at least one actuatable member to extend awayfrom the body. The fragile member may comprise a hand-shaped endeffector; the at least one actuatable member may comprise an arm memberincluding an elbow portion; the hand-shaped end effector may be coupledto the body by the arm member; actuating the fragile member to adefensive configuration may comprise actuating the hand-shaped endeffector to move towards the body; and actuating the at least oneactuatable member to a protective configuration may comprise actuatingthe arm member to extend the elbow portion away from the body. Thefragile member may comprise two hand-shaped end effectors; the at leastone actuatable member may comprise two arm members, each arm memberincluding a respective elbow portion; each hand-shaped end effector maybe coupled to the body by a respective one of the arm members; actuatingthe fragile member to a defensive configuration may comprise actuatingeach of the hand-shaped end effectors to move towards the body; andactuating the at least one actuatable member to a protectiveconfiguration may comprise actuating each of the arm members to extendeach respective elbow portion away from the body. The robot may includeat least one support structure coupled to the at least one actuatablemember, the support structure may be actuatable between a stowedconfiguration in which the support structure is stowed, and a supportconfiguration in which the support structure supports the at least oneactuatable member; and the method may further comprise, in response todetecting the fall event, actuating the at least one support structurefrom the stowed configuration to the support configuration. The at leastone support structure may comprise at least one pad positioned at orproximate the at least one actuatable member; and the method may furthercomprise, in response to detecting the fall event, actuating the pad tocover the at least one actuatable member. The at least one actuatablemember may comprise an arm member having an elbow portion; the at leastone support structure may comprise at least one elbow pad positioned ator proximate the elbow portion; and actuating the at least one supportstructure from the stowed configuration to the support configuration maycomprise actuating the elbow pad to cover the elbow portion. The atleast one support structure may comprise at least one pedestalpositioned at the at least one actuatable member; and actuating the atleast one support structure from the stowed configuration to the supportconfiguration may comprise actuating the pedestal to extend from the atleast one actuatable member. The at least one support structure maycomprise at least one spring positioned at the at least one actuatablemember; and actuating the at least one support structure from the stowedconfiguration to the support configuration may comprise actuating thespring to extend from the at least one actuatable member.

The method may further comprise collecting, by the at least one sensor,sensor data selected from a group of data consisting of: accelerationdata; orientation data; angular velocity data; velocity data; inertialdata; visual data; LI DAR data; audio data; and tactile data. The methodmay further comprise moving the robot in bipedal motion, by twoactuatable leg members of the robot.

BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS

The various elements and acts depicted in the drawings are provided forillustrative purposes to support the detailed description. Unless thespecific context requires otherwise, the sizes, shapes, and relativepositions of the illustrated elements and acts are not necessarily shownto scale and are not necessarily intended to convey any information orlimitation. In general, identical reference numbers are used to identifysimilar elements or acts.

FIG. 1 is a front view of a robot which may experience a fall event.

FIG. 2 is a flowchart diagram of an exemplary method for operating arobot.

FIGS. 3A, 3B, and 3C are side views of an exemplary end effector coupledto a member of a robot.

FIGS. 4A and 4B are side views of an exemplary head, neck, and torso ofa robot.

FIGS. 5A and 5B are side views of another exemplary end effector coupledto a member of a robot. FIG. 5C is an isometric view of the end effectorshown in FIGS. 5A and 5B.

FIGS. 6A and 6B are front views of a robot having an actuatable supportmember.

FIGS. 7A and 7B are side views of another robot having an actuatablesupport member.

FIGS. 8A and 8B are side views of an exemplary end effector and acorresponding support member.

FIGS. 9A and 9B are side views of an exemplary head, neck, torso andcorresponding support members of a robot.

FIGS. 10A, 10B, and 100 are side views of a robot which experiences afall event.

FIGS. 10D and 10E are top views of a robot which experiences a fallevent.

FIGS. 11A and 11B illustrate an actuatable member having supportstructure to protect the actuatable member during a fall event.

FIGS. 12A and 12B illustrate another actuatable member having supportstructure to protect the actuatable member during a fall event.

FIGS. 13A and 13B illustrate yet another actuatable member havingsupport structure to protect the actuatable member during a fall event.

DETAILED DESCRIPTION

The following description sets forth specific details in order toillustrate and provide an understanding of the various implementationsand embodiments of the present robots and methods. A person of skill inthe art will appreciate that some of the specific details describedherein may be omitted or modified in alternative implementations andembodiments, and that the various implementations and embodimentsdescribed herein may be combined with each other and/or with othermethods, components, materials, etc. in order to produce furtherimplementations and embodiments.

In some instances, well-known structures and/or processes associatedwith computer systems and data processing have not been shown orprovided in detail in order to avoid unnecessarily complicating orobscuring the descriptions of the implementations and embodiments.

Unless the specific context requires otherwise, throughout thisspecification and the appended claims the term “comprise” and variationsthereof, such as “comprises” and “comprising,” are used in an open,inclusive sense to mean “including, but not limited to.”

Unless the specific context requires otherwise, throughout thisspecification and the appended claims the singular forms “a,” “an,” and“the” include plural referents. For example, reference to “anembodiment” and “the embodiment” include “embodiments” and “theembodiments,” respectively, and reference to “an implementation” and“the implementation” include “implementations” and “theimplementations,” respectively. Similarly, the term “or” is generallyemployed in its broadest sense to mean “and/or” unless the specificcontext clearly dictates otherwise.

The headings and Abstract of the Disclosure are provided for convenienceonly and are not intended, and should not be construed, to interpret thescope or meaning of the present robots and methods.

The various embodiments described herein provide robots and methods forprotecting fragile members from damage during fall events. Generally,“fragile member” refers to a member which is easily damaged or broken(relative to other members of a robot). However, in the context of thisdisclosure, “fragile member” can also refer to a member which isproblematic if broken or damaged, even if said fragile member is notmore easily damaged or broken relative to certain other members of arobot. This could be for example because the member could be expensive,difficult or time consuming to manufacture, difficult or time consumingto replace/repair, or usability of the robot could be significantlyimpaired due to the damage, as non-limiting examples. Alternative termsfor “fragile member” could include “susceptible member”, “vulnerablemember”, “breakable member”, “precious member”, “important member”, orany other appropriate term which conveys the relative importance orsusceptibility to damage of the member. Several exemplary fragilemembers are discussed throughout this disclosure.

FIG. 1 is a front view of an exemplary robot 100 in accordance with oneimplementation. In the illustrated example, robot 100 includes a body101 that is designed to approximate human anatomy, including a torso 110coupled to a plurality of members including head 111 (via neck 112),right arm 113 (in turn coupled to end effector 114), right leg 115, leftarm 116 (in turn coupled to end effector 117), and left leg 118, whichapproximate anatomical features. More or fewer anatomical features couldbe included as appropriate for a given application. Further, how closelya robot approximates human anatomy can also be selected as appropriatefor a given application. In some applications, a robot body may onlyapproximate a portion of human anatomy. As non-limiting examples, onlyan arm of human anatomy, only a head or face of human anatomy; or only aleg of human anatomy could be approximated. In some applications, arobot may not approximate human anatomy at all.

Members 110, 111, 112, 113, 114, 115, 116, 117, and/or 118 can beactuatable relative to other components. Actuators, motors, or othermovement devices can couple together actuatable members. Driving saidactuators, motors, or other movement driving mechanism causes actuationof the actuatable members. For example, rigid limbs in a humanoid robotcan be coupled by motorized joints, where actuation of the rigid limbsis achieved by driving movement in the motorized joints. In someimplementations, such actuators, motors, or other movement drivingmechanisms can be included in corresponding actuatable members. It isnot required that each of components 110, 111, 112, 113, 114, 115, 116,117, and/or 118 be actuatable; some of these components can benon-actuatable. As one example, head 111 could be rigidly coupled totorso 110 by a rigid neck 112. It is also possible that any or all ofcomponents 110, 111, 112, 113, 114, 115, 116, 117, and/or 118 beactuatable. As one example, head 111 could be actuated by actuation ofneck 112. Further any of the members can include sub-members, and saidsub-members can be actuatable. As one example, head 111 could includesub-members such as eyebrows, eyes, lips, or any other appropriatesub-members, which can be actuated (e.g. to emulate human emotions).

Robot 100 is also illustrated as including sensors 120, 122, 124, 126,and 128, which collect sensor data. In the example, sensors 120 and 122are image sensors (e.g. cameras) that capture visual data. LI DARsensors which capture LIDAR data could also be used. Sensors 124 and 126are audio sensors (e.g. microphones) that capture audio data. Sensor 128can include at least one motion or orientation sensor, such as anaccelerometer, a gyroscope, an inertial measurement unit, a compass, ora magnetometer. Such sensors could capture, for example, accelerationdata, orientation data, angular velocity data, velocity data, inertialdata, or any other appropriate type of data. Although not illustrated,robot 100 could also include a tactile sensor, which captures tactiledata. Many types of sensors are illustrated and discussed with referenceto the example of FIG. 1 , but more or fewer sensor types could beincluded as appropriate for a given application. As examples, only oneof the exemplary sensor types could be included, a subset of theexemplary sensor types could be included, all of the exemplary sensortypes could be included, or even more sensor types than those discussedcould be included. Further, any appropriate number of sensors of a givensensor type could be included. As examples, only one sensor of a giventype could be included, or a plurality of sensors of a given type couldbe included. Any combination of sensor types and number of sensors ofeach type could be included as appropriate for a given application.Further, although sensors 120 and 122 are shown as approximating humaneyes, and sensors 124 and 126 are shown as approximating human ears,sensors 120, 122, 124, and 126 could be positioned in any appropriatelocations.

Robot 100 is also illustrated as including at least one processor 132,communicatively coupled to at least one non-transitoryprocessor-readable storage medium 134. The at least one processor 132can control actuation of members 110, 111, 112, 113, 114, 115, 116, 117,and 118; can receive and process data from sensors 120, 122, 124, 126and 128; and can perform fall detection as discussed later withreference to FIG. 2 . The at least one non-transitory processor-readablestorage medium 134 can have processor-executable instructions storedthereon, which when executed by the at least one processor 132 can causerobot 100 to perform any of the methods discussed herein (e.g. method200 in FIG. 2 ). Further, the at least one non-transitoryprocessor-readable storage medium 134 can store sensor data or any otherdata as appropriate for a given application. The at least one processor132 and the at least one processor-readable storage medium 134 togethercan be considered as components of a “robot controller” 130, in thatthey control operation of robot 100 in some capacity. While the at leastone processor 132 and the at least one processor-readable storage medium134 can perform all of the respective functions described in thisparagraph, this is not necessarily the case, and the “robot controller”130 can be remote from body 101, or further include components that areremote from body 101.

In emulating human anatomy, it can be helpful or desirable for a robotto not only emulate physical features of human anatomy, but to alsoemulate how a human moves. For example, bipedal motion (a form oflocomotion where movement occurs by means of two legs) can be emulated.This makes a robot (such as robot 100) resemble a human more closelyaesthetically, and also better enables the robot to conduct itself inhuman environments. In particular, human environments are typicallydesigned and constructed in ways that are conducive to human anatomy(such as in ways that are suited to bipedal motion). Examples of thisinclude stairs or ladders, as non-limiting examples, which arechallenging for other forms of locomotion like wheels. Additionally,even if not specifically designed by and constructed for humans, it canbe desirable for a robot to be operable in environments which humansoperate in, including flat terrain, hilly terrain, rocky terrain,mountainous terrain, or terrain with obstacles, as non-limitingexamples—all of which are traversable by bipedal walking.

To this end, robot 100 as shown in FIG. 1 includes two actuatable legmembers: right leg member 115 and left leg member 118. Leg members 115and 118 are actuatable to move robot 100 by bipedal motion. That is, legmembers 115 and 118 can alternately apply force to a ground surface tomove robot 100 in a desired direction. In some implementations, controlof leg members 115 and 118 can be provided by a tele-operation system,where an operator equips motion sensors to themselves (such as legmotion sensors, through additional sensors could also be equipped, suchas a body motion sensing suit), and performs bipedal motion. The bipedalmotion is sensed by the motion sensors and emulated by the robot 100. Inother implementations (such as after an control system of robot 100 hasbeen trained in bipedal motion), the at least one non-transitoryprocessor-readable storage medium 134 of robot 100 stores instructions,at least one control paradigm, or other form of control data, which whenexecuted by the at least one processor 132 causes robot 100 to move bybipedal motion of the actuatable leg members 115 and 118. Further,methods of operation of a robot such as robot 100 can comprise movingthe robot in bipedal motion, by two actuatable leg members of the robot(actuatable leg members 115 and 118 in robot 100).

However, bipedal motion is difficult to emulate, and can increase thelikelihood that a robot will lose balance and experience a fall event.Conventionally, when a bipedal human experiences a fall event, the humanwill extend their hands and try to catch themselves by falling on theirhands. In implementations of the present systems, devices, and methodsin which the robot's hands are fragile members, it is desirable to avoidthis instinctive “catch/absorb a fall with the hands” behavior. Thus,while it can be advantageous to enable a robot to emulate human functionand behavior by designing and operating a robot to achieve bipedalwalking, in accordance with the present systems, devices, and methods abipedal robot may be purposefully designed and operated away from theconventional “catch/absorb a fall with the hands” behavior that isinherent in other bipedal systems (such as humans) and after which abipedal robot may otherwise be modeled. Instead, a bipedal robot may bedesigned and operated to protect its hands (and/or other fragilemember(s)) when it falls by, for example, curling the hands into aprotected configuration, directing its elbows (or support structure)towards the fall, and catching/absorbing the fall with its elbows (orsupport structure) as described in more detail herein.

FIG. 2 is a flowchart diagram showing an exemplary method 200 ofoperation of a robot in accordance with the present systems, devices,and methods. Method 200 as illustrated includes acts 202 and 204, thoughthose of skill in the art will appreciate that in alternativeimplementations certain acts may be omitted and/or additional acts maybe added. In some implementations, method 200 can be performed by robot100 discussed with reference to FIG. 1 . Discussion of method 200 belowreferences elements of robot 100 for convenience, but method 200 can beperformed by any appropriate robot having at least one processor, abody, at least one sensor, and a fragile member. Further, at least oneprocessor-readable storage medium (such as the at least onenon-transitory processor-readable storage medium 134) can storeprocessor-executable instructions that, when executed by at the at leastone processor (such as the at least one processor 132), cause the robotto perform the method 200.

At act 202, the at least one processor 132 detects a fall event of body101 of robot 100, based on sensor data from at least one sensorcommunicatively coupled to the at least one processor 132 (e.g. any ofsensors 120, 122, 124, 126, or 128). As one example, if the at least onesensor includes a visual sensor, the at least one processor 132 coulddetect a fall event based on a sudden shift in captured visual data(from the visual sensor experiencing movement of the fall event). Asanother example, if the sensor includes a LI DAR sensor, the at leastone processor 132 could detect a fall event based on a sudden shift incaptured LI DAR data (from the LI DAR sensor experiencing movement ofthe fall event). As another example, if the at least one sensor includesan accelerometer, the at least one processor 132 could detect a fallevent based on acceleration of body 101 (e.g. sudden acceleration ofbody 101 downwards). As yet another example, if the at least one sensorincludes a gyroscope, compass, or magnetometer, the at least oneprocessor 132 could detect a change in orientation of the body 101 (e.g.body 101 tipping over). As yet another example, if the at least onesensor includes an inertial measurement unit, the at least one processor132 could detect an inertial change of body 101, such as acceleration orangular acceleration (such as sudden acceleration or rotation of body101). As yet another example, if the at least one sensor includes anaudio sensor, the at least one processor 132 could detect a sound of airon a microphone, or a sound of clattering robot parts (sounds of body101 falling). As yet another example, if the at least one sensorincludes a velocity sensor, the at least one processor can detect suddenchanges in velocity (body 101 experiencing motion of the fall event). Asyet another example, if the at least one sensor includes a tactilesensor, the at least one processor 132 could detect impact against body101 (e.g. from at least one member of body 101 colliding against eachother or against another object during the fall event). In someimplementations, sensor data from a plurality of sensors can be capturedand processed, such that different types of sensor data can besynthesized or processed, to accurately detect fall events and minimizeoccurrence of false positive detections or false negative errors.

At act 204, in response to detecting the fall event, at least one memberof the robot is actuated to protect a fragile member of the robot. Insome implementations, the fragile member itself can be actuated to adefensive configuration to protect the fragile member from damage duringthe fall event, as discussed later with reference to FIGS. 3A, 3B, 3C,4A, 4B, 5A, 5B, and 5C, as examples. In other implementations, anactuatable member is actuated to a protective configuration to protectthe fragile member from damage during the fall event, as discussed laterwith reference to FIGS. 6A, 6B, 7A, 7B, 8A, 8B, 9A, 9B, 10B, 100, and10D, as examples. In some implementations, the fragile member itself isactuated to a defensive configuration and an actuatable member isactuated to a protective configuration to protect the fragile memberfrom damage during the fall event, as discussed with reference to FIGS.10B, 10D, and 10E, as examples.

As mentioned above, in some implementations, actuating at least onemember of the robot to protect the fragile member as in act 204 ofmethod 200 in FIG. 2 comprises actuating the fragile member to adefensive configuration to protect the fragile member from damage duringthe fall event. In some exemplary implementations, the fragile membercan be actuated to a contracted or closed configuration. Severalexamples are discussed below with reference to FIGS. 3A, 3B, 3C, 4A, 4B,5A, 5B, and 5C.

FIGS. 3A, 3B, and 3C are side views of an exemplary end effector 310coupled to a member 320 of a robot. Member 320 could be, for example, anarm of robot 100 in FIG. 1 . In the illustrated example, end effector310 comprises a pair of grippers 312 and 314, which are operable to openand close relative to each other, to grip or release objectstherebetween. In other implementations, additional grippers could beincluded, as appropriate. Due to their complicated mechanical nature,and relatively small components (compared to other parts of a robot),end effectors can be more easily broken or damaged than other componentsof a robot, and can be more expensive to manufacture and replace thanother components of a robot. In this sense, end effectors can be“fragile members” or a robot. In the example, gripper members 312 and314 are thinner (made of less material) than member 320, and can includedelicate actuation hardware. Thus, in the example of FIGS. 3A, 3B, and3C, end effector 310 is a “fragile member”.

FIG. 3A illustrates end effector 310 in an open configuration, withgripper members 312 and 314 spaced apart from each other, to receive anobject therebetween. FIG. 3B illustrates end effector 310 in a closedconfiguration, with gripper members 312 and 314 touching each other.While the closed configuration is useful to grip objects, the closedconfiguration is also useful as a defensive configuration to protect endeffector 310 from damage during a fall event. In particular, actuatingthe fragile member to a defensive configuration as in act 204 of method200 in FIG. 2 may comprise actuating gripper members 312 and 314 toclose together. In this way, the strength of individual gripper members312 and 314 reinforce each other, such that end effector 310 is morerobust against impact that may occur during a fall event. The closedconfiguration of FIG. 3B can also be called a contracted configuration,in that gripper members 312 and 314 are “contracted” inward relative toeach other.

FIG. 3C illustrates another contracted configuration, where end effector310 is contracted into a recess in member 320. In this way, end effector310 is protected by member 320 during a fall event. In FIG. 3C, endeffector 310 is shown as being partially contracted in member 320 (i.e.gripper members 312 and 314 are shown as partially protruding frommember 320), but in some implementations, end effector 310 can be fullycontracted into member 320, such that end effector 310 is fullyprotected by member 320.

FIGS. 4A and 4B are side views of torso 110, head 111, and neck 112 asdiscussed with reference to robot 100 in FIG. 1 . In the exampleillustrated in FIGS. 4A and 4B, head 111 has a face 411. Face 411 couldcomprise, as non-limiting examples: complex mechanical components likeeyes, eyebrows, lips, or other facial features which approximate humananatomy; sensors like visual sensors, or other sensor types; aestheticdesign features like masks or surface textures; or any other appropriateelements. Due to the presence of such components or elements, face 411can be a “fragile member”, in that elements of the face 411 can beeasily broken or damaged, or expensive or difficult to replace. Even incases whether elements of face 411 themselves aren't easily broken, evenminor damage to face 411 can have dramatic consequences, since the faceis an important aesthetic element, which robots can use to emulate humananatomy. Even small scratches or dents in face 411 can be problematic.

FIG. 4A illustrates head 111 in an erect configuration (i.e. heldstraight up, similar to in human anatomy). FIG. 4B illustrates head 111in bent-over configuration. The bent-over configuration of FIG. 4B canbe valuable as a defensive configuration, in that face 411 is lesslikely to be subjected to impact during a fall event if head 111 is inthe bent-over configuration. As such, actuating the fragile member to adefensive configuration as in act 204 of method 200 in FIG. 2 maycomprise actuating head 111 to bend forward (toward torso 110). Thebent-over configuration of FIG. 4B can also be called a contractedconfiguration, in that the head 111 is contracted towards the torso 110.

FIGS. 5A, 5B, and 5C illustrate an exemplary end effector 510 coupled toa member 520 of a robot. Member 520 could be, for example, an arm ofrobot 100 in FIG. 1 . In the illustrated example, end effector 510 ishand-shaped, to grip or release objects similar to how a human handwould. In the illustrated example, end effector 510 includesfinger-shaped members 540, 550, 560, 570, and 580. Although fivefinger-shaped members are illustrated, any number of finger-shapedmembers could be included as appropriate for a given application. Eachof finger-shaped members 540, 550, 560, 570, and 580 are coupled to apalm-shaped member 530. Palm-shaped member 530 serves as a common memberto which the finger-shaped members are coupled. In the example, each offinger-shaped members 540, 550, 560, 570, and 580 are actuatablerelative to the palm-shaped member 530. In particular, member 540 isactuatable relative to member 530 at joint 541; member 550 is actuatablerelative to member 530 at joint 551; and member 580 is actuatablerelative to member 530 at joint 581. Members 560 and 570 are similarlyactuatable relative to member 530 at respective joints, but these jointsare not labelled to avoid clutter. Finger-shaped members can alsoinclude joints at which sub-members of a given finger-shaped member areactuatable. In the illustrated example, finger-shaped member 540includes sub-member 542 and sub-member 544, actuatable relative to eachother about joint 543. Similarly, finger-shaped member 550 includessub-members 552, 555, and 558, actuatable relative to each other aboutjoints 554 and 557. Similarly, finger-shaped member 580 includessub-members 582, 584, and 586, actuatable relative to each other aboutjoints 583 and 585. Finger-shaped members 560 and 570 include similarsub-members and joints, but they are not labelled to avoid clutter. Afinger-shaped member can include any number of sub-members and joints,as appropriate for a given application.

Due to their complicated mechanical nature, and relatively smallcomponents (compared to other parts of a robot), end effectors can bemore easily broken or damaged than other components of a robot, and canbe more expensive to manufacture and replace than other components of arobot. For example, joints 541, 543, 551, 554, 557, 581, 583, and 585may be designed for motion of finger-shaped members and sub-memberstowards the palm-shaped member 530 (as illustrated in FIG. 5B discussedbelow), but may not be designed for extensive motion in the oppositedirection. Motion in an unintended direction, such as may be caused byforce due to a fall event, may break or damage finger-shaped members,joints, or sub-members. As another example, finger-shaped members,sub-members, and joints may be made thinner (made of less material) thanmember 520, and can include delicate actuation hardware. In this sense,any components of an end effector, such as the finger shaped members,sub-members, or joints discussed with reference to FIGS. 5A, 5B, and 5Ccan be “fragile members” or a robot. Additionally, FIGS. 5A, 5B, and 5Cillustrate a plurality of optional sensor pads 531, 545, 546, 553, 556,and 559, and similar sensor pads on finger-shaped members 560 and 570which are not labelled to avoid clutter. Finger-shaped member 580 isillustrated without sensor pads thereon, which is indicative that insome implementations a hand-shaped member may be only partially coveredby sensor pads (although full cover by sensor pads is possible in otherimplementations). Such sensor pads can collect sensor data, such astactile data or temperature data. Such sensor pads can also be prone tobreaking or damage during a fall event, and thus can also be consideredas “fragile members” of a robot.

FIG. 5A is a front-view which illustrates end effector 510 in an openconfiguration, with finger-shaped members 540, 550, 560, 570, and 580extended from palm-shaped member 530, to receive an object. FIG. 5B is afront view which illustrates end effector 510 in a closed configuration,with finger-shaped members 540, 550, 560, 570, and 580 closed intopalm-shaped member 530. FIG. 5C is an isometric view which illustratesend effector 510 in the closed configuration as in FIG. 5B. Each of thesub-members and sensor pads are not labelled in FIGS. 5B and 5C to avoidclutter. While the closed configuration is useful to grip objects, theclosed configuration is also useful as a defensive configuration toprotect end effector 510 from damage during a fall event. In particular,actuating the fragile member to a defensive configuration as in act 204of method 200 in FIG. 2 may comprise actuating finger-shaped members540, 550, 560, 570, and 580 to close toward palm-shaped member 530 inthe closed configuration. In this way, the strength of individualfinger-shaped members 540, 550, 560, 570, and 580 reinforce each other,such that end effector 510 is more robust against impact that may occurduring a fall event. Further, finger-shaped members 540, 550, 560, 570,and 580 are also in a position where it is less likely that joints willbe forced to bend in an unintended direction. The closed configurationof FIG. 5B can also be called a contracted configuration, in thatfinger-shaped members 540, 550, 560, 570, and 580 are “contracted”inward relative to each other. The closed configuration can also bereferred to as a fist-shaped configuration, due to resemblance to ahuman fist.

Further, the closed configuration of FIGS. 5B and 5C can also beconsidered as a protective configuration. In particular, in the closedconfiguration, finger-shaped members 540, 550, 560, 570, and 580 atleast partially protect sensor pads 531, 545, 546, 553, 556, 559, andother unlabeled sensor pads from impact during a fall event.

As mentioned above, in some implementations, the robot comprises anactuatable member (in addition to the fragile member), and actuating atleast one member of the robot to protect the fragile member as in act204 of method 200 in FIG. 2 comprises actuating the actuatable member toa protective configuration which protects the fragile member from damageduring the fall event. Several examples are discussed below withreference to FIGS. 6A, 6B, 7A, 7B, 8A, 8B, 9A, and 9B.

FIGS. 6A and 6B are front views of robot 100 as discussed with referenceto FIG. 1 . Not all features of robot 100 as illustrated in FIG. 1 arelabelled in FIGS. 6A and 6B, to avoid clutter. Nonetheless, thedescription of robot 100 with reference to FIG. 1 is fully applicable toFIGS. 6A and 6B. Further, in FIGS. 6A and 6B, robot 100 includes anactuatable support member 615 coupled to right leg 115, and anactuatable support member 618 coupled to left leg 118. Support members615 and 618 can each be in a contracted configuration as shown in FIG.6A. In FIG. 6A, robot 100 is shown as standing on surface 620. In theexample of FIG. 6B, robot 100 experiences a fall event. In response tothe fall event, actuating the at least one actuatable member (supportmember 615) to a protective configuration comprises extending supportmember 615 from the body of robot 100 (from leg 115) to an extendedconfiguration which braces the body of robot 100 against surface 620.This can prevent robot 100 from falling over, or at least redirect thefall of robot 100, so as to protect a fragile member or fragile membersof robot 100.

In the example of FIG. 6B, support member 615 is shown as extending awayfrom leg 115, and having an extension member 615 a extending therefrom.However, the illustrated structure of support member 615 is merelyexemplary, and any appropriate structure could be implementations asappropriate for a given application. As one example, a support membermay only extend from the body of robot 100 and not include extensionmember 615 a. As another example, a support member could include evenmore extension members, so as to increase surface area with which thesupport member braces the body of robot 100.

The contracted configuration of support member 615 discussed above andshown in FIG. 6A can also be referred to as a stowed configuration or acompact configuration, as examples. The extended configuration ofsupport member 615 discussed above and shown in FIG. 6B can also bereferred to as a support configuration or brace configuration, asexamples. Further, description of support member 615 is fully applicableto support member 618. Support member 615 could be coupled to anexterior of leg 115, or could be positioned within a recess in leg 115when in the contracted configuration. Similarly, support member 618could be coupled to an exterior of leg 118, or could be positionedwithin a recess in leg 118 when in the contracted configuration. In someimplementations, actuation of support member 615 or 618 could beselectively performed based on a direction which robot 100 falls duringa fall event. In the example of FIG. 6B, robot 100 falls to the robot'sright, and support member 615 extends to the right to support robot 100.In a scenario where robot 100 falls to the robot's left, support member618 could extend to the left to support robot 100. Support members 615and 618 could also be designed to extend forward and/or backward, tosupport robot 100 during forward falls and backwards falls.

FIGS. 7A and 7B are side views of robot 100 as discussed with referenceto FIG. 1 . Not all features of robot 100 as illustrated in FIG. 1 arelabelled in FIGS. 7A and 7B, to avoid clutter. Nonetheless, thedescription of robot 100 with reference to FIG. 1 is fully applicable toFIGS. 7A and 7B. Further, in FIGS. 7A and 7B, robot 100 includes anactuatable support member 710 coupled to torso 110. Support member 710can be in a contracted configuration as shown in FIG. 7A. In FIG. 7A,robot 100 is shown as standing on a surface 720. In the example of FIG.7B, robot 100 experiences a fall event. In response to the fall event,actuating the at least one actuatable member (support member 710) to aprotective configuration comprises extending support member 710 from thebody of robot 100 (from torso 110) to an extended configuration whichbraces the body of robot 100 against surface 720. This can prevent robot100 from falling over, or at least redirect the fall of robot 100, so asto protect a fragile member or fragile members of robot 100. In theexample, such fragile members could include at least one end effector(such as an end effector coupled to arm 116) or face 411 (similarly toas described with reference to FIGS. 4A and 4B).

In the example of FIG. 7B, support member 710 is shown as extending awayfrom torso 110, and having an extension member 710 a extendingtherefrom. However, the illustrated structure of support member 710 ismerely exemplary, and any appropriate structure could be implemented asappropriate for a given application. As one example, a support membermay only extend from the body of robot 100 and not include extensionmember 710 a. As another example, a support member could include evenmore extension members, so as to increase surface area with which thesupport member braces the body of robot 100.

The contracted configuration of support member 710 discussed above andshown in FIG. 7A can also be referred to as a stowed configuration or acompact configuration, as examples. The extended configuration ofsupport member 710 discussed above and shown in FIG. 7B can also bereferred to as a support configuration or brace configuration, asexamples. Support member 710 could be coupled to an exterior of torso110, or could be positioned within a recess in torso 110 when in thecontracted configuration. Additional support members could be includedas needed to brace the robot 100 during fall events of differentdirections.

FIGS. 8A and 8B are side views of an exemplary end effector 310 coupledto a member 820 of a robot. End effector 310 as illustrated is similarto as described with reference to FIGS. 3A, 3B, and 3C, and isillustrated as including gripper members 312 and 314. Member 820 asillustrated is similar to member 320 discussed with reference to FIGS.3A, 3B, and 3C, and can be for example an arm of a robot. One differencebetween member 820 in FIGS. 8A and 8B, and member 320 in FIGS. 3A, 3B,and 3C, is that member 820 has a support member 822 coupled thereto.Support member 822 is actuatable relative to member 820. In FIG. 8A,support member 822 is shown in a contracted configuration, where supportmember 822 is positioned so as not to encumber end effector 310 (in theexample, at least partially covering member 820, as indicated by thedashed lines in FIG. 8A). In FIG. 8B, support member 822 is shown in anextended configuration, where support member 822 covers end effector 310(as indicated by the dashed lines in FIG. 8B). The extendedconfiguration of FIG. 8B is useful as a protective configuration, toprotect end effector 310 (a fragile member) from damage during a fallevent. The contracted configuration of support member 822 discussedabove can also be referred to as a stowed configuration or a compactconfiguration, as examples. The extended configuration of support member822 can also be referred to as a support configuration or braceconfiguration, as examples. FIGS. 8A and 8B illustrate an exemplaryimplementation where a support member in a protective configurationprotects a fragile member by covering said fragile member. FIG. 8Billustrates support member 822 as completely covering end effector 310,but in some implementations support member 822 may only partially coversend effector 310.

Although FIGS. 8A and 8B illustrate support member 822 as protecting endeffector 310, support member 822 could protect any fragile member of arobot, as appropriate for a given application. As one example, supportmember 822 could protect a hand-shaped end effector, such as endeffector 510 discussed above with reference to FIGS. 5A, 5B, and 5C. Asanother example, support member 822 could be positioned to protect ahead member, such as head 111 discussed with reference to FIG. 1 above.The stated examples are non-limiting, and a support member such assupport member 822 could be positioned to protect any appropriatefragile member as appropriate for a given application.

FIGS. 9A and 9B are side-views of torso 110, head 111, and neck 112 asdiscussed with reference to robot 100 in FIG. 1 . In the example, neck112 is a fragile member, which can include for example complexmechanical structures or data pathways. Torso 110 has at least supportmembers 914 and 916 coupled thereto. In FIG. 9A, support members 914 and916 are shown in contracted configurations, where support members 914and 916 are positioned so as not to encumber neck 112. In FIG. 9B,support members 914 and 916 are shown in extended configurations, wheresupport members 914 and 916 brace neck 112 to prevent unwanted movement.The extended configurations of FIG. 9B are useful as a protectiveconfiguration, to protect neck 112 (a fragile member) from damage duringa fall event. For example, if the robot were to fall and impact head 111against an object, this could result in strong forces being applied toneck 112; support members 914 and 916 reinforce neck 112 against suchforces and thereby protect neck 112 from damage during the fall event.The contracted configurations of support members 914 and 916 discussedabove can also be referred to as stowed configurations or compactconfigurations, as examples. The extended configurations of supportmembers 914 and 916 can also be referred to as support configurations orbrace configurations, as examples. FIGS. 9A and 9B illustrate anexemplary implementation where a support member in a protectiveconfiguration protects a fragile member by providing structuralreinforcement to said fragile member, without necessarily covering saidfragile member.

Although FIGS. 9A and 9B illustrate support members 914 and 916 asprotecting neck 112, support members 914 and 916 (or more or fewersupport members) could protect any fragile member of a robot, asappropriate for a given application. As one example, a support membercould protect an end effector, such as end effectors 310 or 510discussed above with reference to FIGS. 3A, 3B, 3C, 5A, 5B, or 5C, byextending to brace said end effector. In particular, a support membercould extend along a wrist-joint of an end effector to reinforce thewrist joint, without necessarily covering the entire wrist joint. Thestated examples are non-limiting, and support members such as supportmembers 914 and 916 could be positioned to protect any appropriatefragile member as appropriate for a given application.

FIGS. 10A, 10B, 100, 10D, and 10E illustrate examples of actuating atleast one actuatable member to protect at least one fragile member, withreference to robot 100 described with reference to FIG. 1 . Unlesscontext dictates otherwise, discussion of FIG. 1 is applicable to FIGS.10A, 10B, 100, 10D, and 10E. Not all components labelled in FIG. 1 arelabelled in FIGS. 10A, 10B, 100, 10D, and 10E to avoid clutter.

FIG. 10A is a side view of robot 100. Robot 100 as illustrated includesarm member 116, which includes elbow portion 116 e (which is anactuatable joint). Arm member 116 is actuatably coupled to torso 110 atone end, and to end effector 117 at another end. FIG. 10A also showsrobot 100 as including face 411 as described above with reference toFIGS. 4A and 4B. In FIG. 10A, robot 100 is standing on surface 1010.

FIG. 10B is a side view of robot 100 after or during a fall event. Inresponse to detecting the fall event (as in act 202 of method 200discussed above with reference to FIG. 2 and other Figures), arm member116 is actuated to a protective configuration which protects at leastone fragile member of robot 100 during the fall event. In the example ofFIG. 10B, elbow portion 116 e of arm member 116 is actuated to extendaway from torso 110. In this way, elbow portion 116 e contacts surface1010 instead of end effector 117 or face 411. An elbow joint (such aselbow portion 116 e) can be made of more material (e.g. made thicker),or can be made simpler, or can be made more cheaply, compared toend-effector components (e.g. fingers or sensor pads) or face components(e.g. actuatable facial features, delicate masks). Consequently, damageto elbow portion 116 e can be less problematic than damage to endeffector 117 and face 411. In some implementations, support structurescan be installed to protect the protective actuatable member (arm member116 and elbow portion 116 e in the illustrated example), as discussed inmore detail later with reference to FIGS. 11A, 11B, 12A, 12B, 13A, and13C.

FIG. 10B illustrates that an actuatable member which is actuated to aprotective configuration does not have to be a dedicated protectivemember. That is, outside of fall events, arm member 116 serves thepurpose of moving end effector 117, to better enable robot 100 tointeract with the world. During a fall event, arm member 116 acts aprotective member (i.e. an actuatable member which is actuated to aprotective configuration). Utilizing members for multiple purposes likethis advantageously can reduce bulk and weight of a robot compared tousing dedicated protective members.

In addition to actuating an actuatable member to a protectiveconfiguration, a fragile member can be actuated to a defensiveconfiguration to protect the fragile member. That is, compound actuationcan occur to provide better protection. In the example of FIG. 10B, armmember 116 is extended away from torso 110 to a protective configurationas discussed above, and end effector 117 is actuated to a defensiveconfiguration. In particular, end effector 117 is actuated to adefensive configuration, which in the illustrated example includesactuating end effector 117 to a contracted configuration where endeffector 117 is moved inwards towards the body of robot 100 (towardstorso 110). The illustrated defensive configuration is merely oneexemplary defensive configuration, and any other defensive configurationcould be utilized as appropriate for a given application. As examples,any the defensive configurations discussed with reference to FIGS. 3A,3B, 3C, 4A, 4B, 5A, 5B, and 5C could be implemented. Further, anyappropriate combination of defensive configurations could be implementedtogether. As an example, end effector 117 can be actuated to acontracted configuration towards the body of robot 100, the end effector117 can be actuated to a closed configuration (such as in FIGS. 3B, 5B,or 5C), and end effector 117 can be actuated to contract into a supportmember (such as in FIG. 3C). This combination is merely exemplary, andany other appropriate combination of defensive configurations could beimplemented.

FIG. 100 is a side view of robot 100 after or during a fall event, whichis similar to FIG. 10B. Unless context dictates otherwise, discussion ofFIG. 10B is applicable to FIG. 100 .

One difference between FIG. 100 and FIG. 10B is that in FIG. 100 , endeffector 117 is not actuated to a defensive configuration to protectitself. That is, in FIG. 100 , end effector 117 is not actuated to acontracted configuration where end effector 117 is moved towards thebody of robot 100. This may result in undesired damage to end effector117, but may bring other advantages. In the example of FIG. 100 , endeffector 117 is positioned in a protective configuration, in front offace 411, to protect face 411 from damage during the fall event. Thiscould be useful if for example face 411 is more fragile or more valuablethan end effector 117, and thus is more important to protect than endeffector 117. In some implementations, during a fall event, act 202 ofmethod 200 in FIG. 2 may include not only detecting a fall event, butcharacterizing, by at least one processor of the robot, the fall event.For example, the at least one processor could detect a direction of fallof the robot, and predict objects with which robot 100 may collideduring the fall event, and which members of robot 100 may collide withsuch objects. Act 204 of method 200 in FIG. 2 could then include andactuating at least one actuatable member of the robot 100 in an optimalmanner which minimizes or eliminates damage to at least one fragilemember of the robot 100. With reference to the example of FIG. 100 , theat least one processor 132 of robot 100 may determine that face 411 islikely to take significant damage during the fall event, whereas endeffector 117 may be unlikely to take damage during the fall event. Insuch a scenario, end effector 117 can be actuated to a protectiveconfiguration which protects face 411, as shown in FIG. 10C. Analysis ofdamage to members can be performed based on an expected position of suchmembers if they are actuated. In the example of FIG. 10C, the at leastone processor 132 can determine the likelihood or extent of damage whichend effector is likely to suffer during the fall event if end effector117 is actuated to the position shown in FIG. 100 .

FIGS. 10D and 10E are partial top views of robot 100 (top with referenceto the upright orientation of robot 100 shown in FIG. 1 ), after orduring a fall event. Head 111 is not illustrated in FIGS. 10D and 10E toreduce clutter. FIGS. 10D and 10E are similar to FIGS. 10B and 100 , anddiscussion of FIGS. 10B and 100 is applicable to FIGS. 10D and 10Eunless context dictates otherwise. One difference between FIGS. 10D and10E, compared to FIGS. 10B and 100 , is that FIGS. 10D and 10Eillustrate two arm members: arm member 113 and arm member 116.Description of arm member 116 with reference to FIGS. 10B and 100 isapplicable to FIGS. 10D and 10E. Arm member 113 is similar to arm member116: arm member 113 includes an elbow portion 113 e (a joint), iscoupled to torso 110 ata first end, and is coupled to an end effector114 at a second end opposite the first end. During a fall event, armmember 113 is actuated to a protective configuration, where elbowportion 113 e is extended away from torso 110 to protect end effector114 from damage during the fall event. FIGS. 10D and 10E illustrate thata fragile member of a robot can include a plurality of fragile members(end effector 114 and end effector 117 in the examples of FIGS. 10D and10E), and the at least one actuatable member can include a plurality ofactuatable members (arm member 113 and arm member 116 in the examples ofFIGS. 10D and 10E). Actuating the at least one actuatable member to aprotective configuration as in act 204 of method 200 in FIG. 2 can thuscomprise actuating each member of the plurality of actuatable members toa respective protective configuration which protects a respectivefragile member of the plurality of fragile members from damage duringthe fall event.

It is possible for a single actuatable member of a plurality ofactuatable members to be actuated to a protective configuration toprotect a single respective fragile member of a plurality of fragilemembers during a fall event (i.e., actuatable members can protectfragile members as respective pairs). However, this is not strictlyrequired. In some implementations, multiple actuatable members can beactuated to protect fewer fragile members (e.g., in FIG. 100 , armmember 113 as shown in FIGS. 10D and 10E could be actuated similarly toarm member 116 in FIG. 100 , such that both arm members 113 and 116protect face 411). As another example, fewer actuatable members can beactuated to protect a greater quantity of fragile members (e.g., inFIGS. 7A and 7B, actuatable member 710 can be actuated to protect face411, arm member 116, and any other fragile members of robot 100).

One difference between FIGS. 10D and 10E is the configuration of endeffectors 114 and 117. In the example of FIG. 10D, end effectors 114 and117 are actuated to respective defensive configurations (closedconfigurations in the illustrated example, as discussed with referenceto FIGS. 3B, 5B, and 5C). In the example of FIG. 10E, end effectors 114and 117 are actuated to respective compound defensive configurations. Inparticular, in FIG. 10E end effectors 114 and 117 are actuated to closedconfigurations, as discussed with reference to FIGS. 3B, 5B, and 5C, andend effectors 114 and 117 are actuated to contracted configurations,where end effectors 114 and 117 are actuated to move towards torso 110.The illustrated defensive configurations are merely exemplary, and anydefensive configurations of combinations of defensive configurationscould be implemented as appropriate for a given application.

Further, although FIGS. 10A, 10B, 100, 10D, and 10E illustrate endeffectors 114 and 117 as gripper members (as discussed with reference toFIGS. 3A, 3B, and 3C), any appropriate form of end effector could beimplemented. For example, end effectors 114 and 117 in FIGS. 10A, 10B,100, 10D, and 10E could comprise hand-shaped members, as discussed withreference to FIGS. 5A, 5B, and 5C.

In some implementations, at least one support structure can be coupledto the at least one actuatable member which protects the at least oneactuatable member from damage during the fall event. Several examplesare illustrated in FIGS. 11A, 11B, 110, 11D, 11E, and 11F discussedbelow.

FIGS. 11A and 11B illustrate an exemplary actuatable member 1110 havingan end effector 1116 at an end thereof. Actuatable member 1110 includesan elbow portion 1112, such that when actuatable member 1110 is actuatedto a protective configuration, elbow support 1112 protects end effector1116 similar to as discussed above regarding FIGS. 10A, 10B, 100, 10D,and 10E. Actuatable member 1110 is illustrated as an arm member similarto arm members 113 or 116 discussed above; however, any other form ofactuatable member could be implemented as appropriate for a givenapplication.

Because elbow portion 1112 is actuated to a protective configuration inwhich elbow portion 1112 will receive impact during a fall event, it canbe helpful to protect elbow portion 1112 from damage with a supportstructure. In the example of FIG. 11A, such support structure comprisesa pad 1114 (an elbow pad in the illustration) positioned proximate elbowportion 1112, to protect elbow 1112 during a fall event. Pad 1114 couldbe made of a material which disperses or absorbs impact, reducing thelikelihood or severity of damage to elbow portion 1112. For example, pad1114 could be made of a hard and resilient rubber or other polymer. Thesupport structure (pad 1114) can be coupled to actuatable member 1110,in a support configuration where elbow portion 1112 is supported orprotected. In some implementations, this coupling can be static (i.e.,the support structure is always in the support configuration).

In other implementations, the support structure can be actuated to thesupport configuration as needed. In the example of FIG. 11B, the supportstructure (pad 1114) is positioned in a stowed configuration in whichthe support structure is stowed. In the example of FIG. 11B, the stowedconfiguration is shown where pad 1114 is positioned away from elbowportion 1112. Such a stowed configuration can advantageously avoid thesupport structure encumbering or otherwise limiting movement of elbowportion 1112. In such an implementation, the support structure isactuatable to the support configuration shown in FIG. 11A. In responseto detecting the fall event as in act 202 of method 200 in FIG. 2 , theat least one support structure is actuated from the stowed configurationof FIG. 11B to the support configuration of FIG. 11A. In the example ofFIGS. 11A and 11B, the pad 1114 is actuated to cover the elbow portion1112. After the robot recovers from the fall event (e.g. stands back up,is helped back up, etcetera), the support structure can be actuated fromthe support configuration to the stowed configuration.

FIGS. 12A and 12B illustrate an exemplary actuatable member 1110 havingan end effector 1116 at an end thereof, similar to FIGS. 11A and 11B.Description of FIGS. 11A and 11B is applicable to FIGS. 12A and 12Bunless context dictates otherwise. As with FIGS. 11A and 11B, in FIGS.12A and 12B actuatable member 1110 also includes an elbow portion 1112,such that when actuatable member 1110 is actuated to a protectiveconfiguration, elbow portion 1112 protects end effector 1116 similar toas discussed above regarding FIGS. 10A, 10B, 100, 10D, and 10E.Actuatable member 1110 is illustrated as an arm member similar to armmembers 113 or 116 discussed above; however, any other form ofactuatable member could be implemented as appropriate for a givenapplication.

One difference between FIGS. 12A and 12B, compared to FIGS. 11A and 11B,is that the support structure which protects elbow portion 1112 is of adifferent form. In the example of FIG. 12A, such support structurecomprises pedestals 1202 and 1204 (alternatively called protrusions)positioned proximate elbow portion 1112, to protect elbow portion 1112during a fall event. The support structure (pedestals 1202 and 1204) canbe coupled to actuatable member 1110, in a support configuration whereelbow portion 1112 is supported or protected. For example, pedestals1202 and 1204 could be coupled to rigid structural elements ofactuatable member 1110 (such as skeletal support components, similar tohuman bones), instead of being coupled to elbow portion 1112 itself. Inthis way, impact during a fall event is transferred to rigid, robustcomponents of a robot, instead of being imparted on a more fragile jointcomponent. In some implementations, the coupling between pedestals 1202and 1204 and actuatable member 1110 can be static (i.e., the supportstructure is always in the support configuration).

In other implementations, the support structure can be actuated to thesupport configuration as needed. In the example of FIG. 12B, the supportstructure (pedestals 1202 and 1204) are positioned in a stowedconfiguration in which the support structure is stowed. In the exampleof FIG. 12B, the stowed configuration is shown where pedestals 1202 and1204 are retracted into a housing of the actuatable member 1110 (shownas dashed lines in FIG. 12B). Such a stowed configuration canadvantageously avoid the support structure encumbering or otherwiselimiting movement of elbow portion 1112, or having an unpleasantappearance. In such an implementation, the support structure isactuatable to the support configuration shown in FIG. 12A. In responseto detecting the fall event as in act 202 of method 200 in FIG. 2 , theat least one support structure is actuated from the stowed configurationof FIG. 12B to the support configuration of FIG. 12A. In the example ofFIGS. 12A and 12B, the pedestals 1202 and 1204 are actuated to extendsoutwards away from the actuatable member 1110. After the robot recoversfrom the fall event (e.g. stands back up, is helped back up, etcetera),the support structure can be actuated from the support configuration tothe stowed configuration.

Although FIGS. 12A and 12B illustrate a support structure whichcomprises two pedestals, the support structure could comprise any numberof pedestals as appropriate for a given application.

FIGS. 13A and 13B illustrate an exemplary actuatable member 1110 havingan end effector 1116 at an end thereof, similar to FIGS. 11A, 11B, 12A,and 12B. Description of FIGS. 11A, 11B, 12A, and 12B is applicable toFIGS. 13A and 13B unless context dictates otherwise. As with FIGS. 11A,11B, 12A, and 12B, in FIGS. 13A and 13B actuatable member 1110 alsoincludes an elbow portion 1112, such that when actuatable member 1110 isactuated to a protective configuration, elbow portion 1112 protects endeffector 1116 similar to as discussed above regarding FIGS. 10A, 10B,100, 10D, and 10E. Actuatable member 1110 is illustrated as an armmember similar to arm members 113 or 116 discussed above; however, anyother form of actuatable member could be implemented as appropriate fora given application.

Similar to the example of FIGS. 12A and 12B, the support structure ofFIGS. 13A and 13B comprises protrusions 1302 and 1304 positionedproximate elbow portion 1112, to protect elbow 1112 during a fall event.In FIGS. 13A and 13B however, protrusions 1302 and 1304 are springs,which can absorb impact or provide cushioning during a fall event. Thesupport structure (springs 1302 and 1304) can be coupled to actuatablemember 1110, in a support configuration where elbow portion 1112 issupported or protected. For example, springs 1302 and 1304 could becoupled to rigid structural elements of actuatable member 1110 (such asskeletal support components, similar to human bones), instead of beingcoupled to elbow portion 1112 itself. In this way, impact during a fallevent is transferred to rigid, robust components of a robot, instead ofbeing imparted on a more fragile joint component. Alternatively, springs1302 and 1304 could be coupled to elbow portion 1112, since springs willabsorb impact (reduce momentum over a greater period of time) instead ofquickly transferring such impact directly to elbow portion 1112. In someimplementations, the coupling between springs 1302 and 1304 andactuatable member 1110 can be static (i.e., the support structure isalways in the support configuration).

In other implementations, the support structure can be actuated to thesupport configuration as needed. In the example of FIG. 13B, the supportstructure (springs 1302 and 1304) are positioned in a stowedconfiguration in which the support structure is stowed. In the exampleof FIG. 13B, the stowed configuration is shown where springs 1302 and1304 are retracted into a housing of the actuatable member 1110. Such astowed configuration can advantageously avoid the support structureencumbering or otherwise limiting movement of elbow portion 1112, orhaving an unpleasant appearance. In such an implementation, the supportstructure is actuatable to the support configuration shown in FIG. 13A.In response to detecting the fall event as in act 202 of method 200 inFIG. 2 , the at least one support structure is actuated from the stowedconfiguration of FIG. 13B to the support configuration of FIG. 13A. Inthe example of FIGS. 13A and 13B, the springs 1302 and 1304 are actuatedto extends outwards away from the actuatable member 1110. After therobot recovers from the fall event (e.g. stands back up, is helped backup, etcetera), the at least one support member can be actuated from thesupport configuration to the stowed configuration.

Although FIGS. 13A and 13B illustrate a support structure whichcomprises two springs, the support structure could comprise any numberof springs as appropriate for a given application.

The examples of FIGS. 11A, 11B, 12A, 12B, 13A, and 13B show supportstructures for supporting elbow joints during a fall event. However,similar support structure could be implemented for any actuatablemembers, as appropriate for a given application.

Throughout this specification and the appended claims the term“communicative” as in “communicative coupling” and in variants such as“communicatively coupled,” is generally used to refer to any engineeredarrangement for transferring and/or exchanging information. For example,a communicative coupling may be achieved through a variety of differentmedia and/or forms of communicative pathways, including withoutlimitation: electrically conductive pathways (e.g., electricallyconductive wires, electrically conductive traces), magnetic pathways(e.g., magnetic media), wireless signal transfer (e.g., radio frequencyantennae), and/or optical pathways (e.g., optical fiber). Exemplarycommunicative couplings include, but are not limited to: electricalcouplings, magnetic couplings, radio frequency couplings, and/or opticalcouplings.

Throughout this specification and the appended claims, infinitive verbforms are often used. Examples include, without limitation: “to encode,”“to provide,” “to store,” and the like. Unless the specific contextrequires otherwise, such infinitive verb forms are used in an open,inclusive sense, that is as “to, at least, encode,” “to, at least,provide,” “to, at least, store,” and so on.

This specification, including the drawings and the abstract, is notintended to be an exhaustive or limiting description of allimplementations and embodiments of the present systems, devices, andmethods. A person of skill in the art will appreciate that the variousdescriptions and drawings provided may be modified without departingfrom the spirit and scope of the disclosure. In particular, theteachings herein are not intended to be limited by or to theillustrative examples of computer systems and computing environmentsprovided.

This specification provides various implementations and embodiments inthe form of block diagrams, schematics, flowcharts, and examples. Aperson skilled in the art will understand that any function and/oroperation within such block diagrams, schematics, flowcharts, orexamples can be implemented, individually and/or collectively, by a widerange of hardware, software, and/or firmware. For example, the variousembodiments disclosed herein, in whole or in part, can be equivalentlyimplemented in one or more: application-specific integrated circuit(s)(i.e., ASICs); standard integrated circuit(s); computer program(s)executed by any number of computers (e.g., program(s) running on anynumber of computer systems); program(s) executed by any number ofcontrollers (e.g., microcontrollers); and/or program(s) executed by anynumber of processors (e.g., microprocessors, central processing units,graphical processing units), as well as in firmware, and in anycombination of the foregoing.

Throughout this specification and the appended claims, a “memory” or“storage medium” is a processor-readable medium that is an electronic,magnetic, optical, electromagnetic, infrared, semiconductor, or otherphysical device or means that contains or stores processor data, dataobjects, logic, instructions, and/or programs. When data, data objects,logic, instructions, and/or programs are implemented as software andstored in a memory or storage medium, such can be stored in any suitableprocessor-readable medium for use by any suitable processor-relatedinstruction execution system, apparatus, or device, such as acomputer-based system, processor-containing system, or other system thatcan fetch the data, data objects, logic, instructions, and/or programsfrom the memory or storage medium and perform various acts ormanipulations (i.e., processing steps) thereon and/or in responsethereto. Thus, a “non-transitory processor-readable storage medium” canbe any element that stores the data, data objects, logic, instructions,and/or programs for use by or in connection with the instructionexecution system, apparatus, and/or device. As specific non-limitingexamples, the processor-readable medium can be: a portable computerdiskette (magnetic, compact flash card, secure digital, or the like), arandom access memory (RAM), a read-only memory (ROM), an erasableprogrammable read-only memory (EPROM, EEPROM, or Flash memory), aportable compact disc read-only memory (CDROM), digital tape, and/or anyother non-transitory medium.

The claims of the disclosure are below. This disclosure is intended tosupport, enable, and illustrate the claims but is not intended to limitthe scope of the claims to any specific implementations or embodiments.In general, the claims should be construed to include all possibleimplementations and embodiments along with the full scope of equivalentsto which such claims are entitled.

1. A method comprising: detecting, by at least one processor of a robot,a fall event of a body of the robot based on sensor data from at leastone sensor of the robot communicatively coupled to the at least oneprocessor; in response to detecting the fall event, actuating at leastone member of the robot to protect a fragile member of the robot.
 2. Themethod of claim 1, wherein actuating at least one member of the robot toprotect the fragile member comprises: actuating the fragile member to adefensive configuration which protects the fragile member from damageduring the fall event.
 3. The method of claim 2, wherein actuating thefragile member to a defensive configuration comprises actuating thefragile member to a contracted configuration.
 4. The method of claim 2,wherein: the fragile member includes an end effector comprising aplurality of finger-shaped members coupled to a palm-shaped member; andactuating the fragile member to a defensive configuration comprisesactuating the finger-shaped members to move towards the palm-shapedmember to a fist-shaped configuration.
 5. The method of claim 1,wherein: the robot includes at least one actuatable member; andactuating at least one member of the robot to protect the fragile membercomprises: actuating the at least one actuatable member to a protectiveconfiguration which protects the fragile member from damage during thefall event.
 6. The method of claim 5, wherein: the at least oneactuatable member comprises at least one support member coupled to thebody and stored in a contracted configuration; and actuating the atleast one actuatable member to a protective configuration comprises:extending the at least one actuatable member from the body to anextended configuration which braces the body during the fall event. 7.The method of claim 5, wherein: the at least one actuatable membercomprises at least one support member; and actuating the at least oneactuatable member to a protective configuration comprises extending theat least one support member from a stowed configuration to a supportconfiguration which braces the fragile member during the fall event. 8.The method of claim 5, wherein: the fragile member includes a pluralityof fragile members; the at least one actuatable member includes aplurality of actuatable members; and actuating the at least oneactuatable member to a protective configuration which protects thefragile member from damage during the fall event comprises: actuatingeach actuatable member of the plurality of actuatable members to arespective protective configuration which protects a respective fragilemember of the plurality of fragile members from damage during the fallevent.
 9. The method of claim 1, wherein: the robot includes at leastone actuatable member; and actuating at least one member of the robot toprotect the fragile member comprises: actuating the fragile member to adefensive configuration which protects the fragile member from damageduring the fall event; and actuating the at least one actuatable memberto a protective configuration which protects the fragile member fromdamage during the fall event.
 10. The method of claim 9, whereinactuating the fragile member to a defensive configuration comprisesactuating the fragile member to a contracted configuration, andactuating the at least one actuatable member to a protectiveconfiguration comprises actuating the at least one actuatable member toan extended configuration.
 11. The method of claim 9, wherein: thefragile member comprises an end effector coupled to the body by the atleast one actuatable member; actuating the fragile member to a defensiveconfiguration comprises actuating the fragile member to move towards thebody; and actuating the at least one actuatable member to a protectiveconfiguration comprises actuating the at least one actuatable member toextend away from the body.
 12. The method of claim 11, wherein: thefragile member comprises a hand-shaped end effector; the at least oneactuatable member comprises an arm member including an elbow portion;the hand-shaped end effector is coupled to the body by the arm member;actuating the fragile member to a defensive configuration comprisesactuating the hand-shaped end effector to move towards the body; andactuating the at least one actuatable member to a protectiveconfiguration comprises actuating the arm member to extend the elbowportion away from the body.
 13. The method of claim 11, wherein: thefragile member comprises two hand-shaped end effectors; the at least oneactuatable member comprises two arm members, each arm member including arespective elbow portion; each hand-shaped end effector is coupled tothe body by a respective one of the arm members; actuating the fragilemember to a defensive configuration comprises actuating each of thehand-shaped end effectors to move towards the body; and actuating the atleast one actuatable member to a protective configuration comprisesactuating each of the arm members to extend each respective elbowportion away from the body.
 14. The method of claim 9, wherein: therobot includes at least one support structure coupled to the at leastone actuatable member, the support structure being actuatable between astowed configuration in which the support structure is stowed, and asupport configuration in which the support structure supports the atleast one actuatable member; and the method further comprises, inresponse to detecting the fall event, actuating the at least one supportstructure from the stowed configuration to the support configuration.15. The method of claim 14, wherein: the at least one support structurecomprises at least one pad positioned at or proximate the at least oneactuatable member; and the method further comprises, in response todetecting the fall event, actuating the pad to cover the at least oneactuatable member.
 16. The method of claim 14, wherein: the at least oneactuatable member comprises an arm member having an elbow portion; theat least one support structure comprises at least one elbow padpositioned at or proximate the elbow portion; and actuating the at leastone support structure from the stowed configuration to the supportconfiguration comprises actuating the elbow pad to cover the elbowportion.
 17. The method of claim 14, wherein: the at least one supportstructure comprises at least one pedestal positioned at the at least oneactuatable member; and actuating the at least one support structure fromthe stowed configuration to the support configuration comprisesactuating the pedestal to extend from the at least one actuatablemember.
 18. The method of claim 14, wherein: the at least one supportstructure comprises at least one spring positioned at the at least oneactuatable member; and actuating the at least one support structure fromthe stowed configuration to the support configuration comprisesactuating the spring to extend from the at least one actuatable member.19. The method of claim 1, wherein the method further comprisescollecting, by the at least one sensor, sensor data selected from agroup of data consisting of: acceleration data; orientation data;angular velocity data; velocity data; inertial data; visual data; LIDARdata; audio data; and tactile data.
 20. The method of claim 1, furthercomprising moving the robot in bipedal motion, by two actuatable legmembers of the robot.